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<div class="title">fpfh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FPFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FPFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::FPFHSignature33&gt;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html">   80</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_f_p_f_h_estimation.html">FPFHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const FPFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#abf2447f74cdee9ae5d5c316a488c3ce9">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#abf2447f74cdee9ae5d5c316a488c3ce9">FPFHEstimation</a> () : </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ae3086a63fe60b49fe5c819e56722ce91">nr_bins_f1_</a> (11), nr_bins_f2_ (11), nr_bins_f3_ (11), </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a97dc7164a7afc7c6861b173c71e20ece">hist_f1_</a> (), <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a69a85d6a81b7cd3ff49f93578e3a23d7">hist_f2_</a> (), <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a52949a65f799b96065cc45b36924d2c4">hist_f3_</a> (), <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#aad2aa2a9a8c6b3c08a1ed45a75ab23f3">fpfh_histogram_</a> (),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a44079dfd6916950b62004ee617d84099">d_pi_</a> (1.0f / (2.0f * static_cast&lt;float&gt; (M_PI)))</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;FPFHEstimation&quot;</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      };</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ab9e1a82df2cfe1b5ac5bef3060f093a7">computePairFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                           <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> q_idx, <span class="keywordtype">float</span> &amp;f1, <span class="keywordtype">float</span> &amp;f2, <span class="keywordtype">float</span> &amp;f3, <span class="keywordtype">float</span> &amp;f4);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ac1f596c9f4cfc10f4a89684ac48ba3e6">computePointSPFHSignature</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, <span class="keywordtype">int</span> p_idx, <span class="keywordtype">int</span> row, </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                 <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                                 Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a3b1ef7299aed97415635996347aa5992">weightPointSPFHSignature</a> (<span class="keyword">const</span> Eigen::MatrixXf &amp;hist_f1, </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                                <span class="keyword">const</span> Eigen::MatrixXf &amp;hist_f2, </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                                <span class="keyword">const</span> Eigen::MatrixXf &amp;hist_f3, </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                                <span class="keyword">const</span> std::vector&lt;float&gt; &amp;dists, </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                                Eigen::VectorXf &amp;fpfh_histogram);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#ae19c8f4c3d2e6c384db71f40dcab0dd4">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ae19c8f4c3d2e6c384db71f40dcab0dd4">setNrSubdivisions</a> (<span class="keywordtype">int</span> nr_bins_f1, <span class="keywordtype">int</span> nr_bins_f2, <span class="keywordtype">int</span> nr_bins_f3)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ae3086a63fe60b49fe5c819e56722ce91">nr_bins_f1_</a> = nr_bins_f1;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        nr_bins_f2_ = nr_bins_f2;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        nr_bins_f3_ = nr_bins_f3;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a3f8d75ebe5861dc669094c9100bcd3e8">  175</a></span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a3f8d75ebe5861dc669094c9100bcd3e8">getNrSubdivisions</a> (<span class="keywordtype">int</span> &amp;nr_bins_f1, <span class="keywordtype">int</span> &amp;nr_bins_f2, <span class="keywordtype">int</span> &amp;nr_bins_f3)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        nr_bins_f1 = <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ae3086a63fe60b49fe5c819e56722ce91">nr_bins_f1_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        nr_bins_f2 = nr_bins_f2_;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        nr_bins_f3 = nr_bins_f3_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a4817bc94da4f0b23bccbb793b6849469">computeSPFHSignatures</a> (std::vector&lt;int&gt; &amp;spf_hist_lookup, </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                             Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a6465bc7973845bbae46e1f4f7ec4ca76">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#ae3086a63fe60b49fe5c819e56722ce91">  203</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#ae3086a63fe60b49fe5c819e56722ce91">nr_bins_f1_</a>, nr_bins_f2_, nr_bins_f3_;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a97dc7164a7afc7c6861b173c71e20ece">  206</a></span>&#160;      Eigen::MatrixXf <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a97dc7164a7afc7c6861b173c71e20ece">hist_f1_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a69a85d6a81b7cd3ff49f93578e3a23d7">  209</a></span>&#160;      Eigen::MatrixXf <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a69a85d6a81b7cd3ff49f93578e3a23d7">hist_f2_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a52949a65f799b96065cc45b36924d2c4">  212</a></span>&#160;      Eigen::MatrixXf <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a52949a65f799b96065cc45b36924d2c4">hist_f3_</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#aad2aa2a9a8c6b3c08a1ed45a75ab23f3">  215</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#aad2aa2a9a8c6b3c08a1ed45a75ab23f3">fpfh_histogram_</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_f_p_f_h_estimation.html#a44079dfd6916950b62004ee617d84099">  218</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_f_p_f_h_estimation.html#a44079dfd6916950b62004ee617d84099">d_pi_</a>; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  };</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;}</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/fpfh.hpp&gt;</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FPFH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html">pcl::FPFHEstimation</a></div><div class="ttdoc">FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud d...</div><div class="ttdef"><b>Definition:</b> fpfh.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a3b1ef7299aed97415635996347aa5992"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a3b1ef7299aed97415635996347aa5992">pcl::FPFHEstimation::weightPointSPFHSignature</a></div><div class="ttdeci">void weightPointSPFHSignature(const Eigen::MatrixXf &amp;hist_f1, const Eigen::MatrixXf &amp;hist_f2, const Eigen::MatrixXf &amp;hist_f3, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;dists, Eigen::VectorXf &amp;fpfh_histogram)</div><div class="ttdoc">Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fas...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:106</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a3f8d75ebe5861dc669094c9100bcd3e8"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a3f8d75ebe5861dc669094c9100bcd3e8">pcl::FPFHEstimation::getNrSubdivisions</a></div><div class="ttdeci">void getNrSubdivisions(int &amp;nr_bins_f1, int &amp;nr_bins_f2, int &amp;nr_bins_f3)</div><div class="ttdoc">Get the number of subdivisions for each angular feature interval.</div><div class="ttdef"><b>Definition:</b> fpfh.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a44079dfd6916950b62004ee617d84099"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a44079dfd6916950b62004ee617d84099">pcl::FPFHEstimation::d_pi_</a></div><div class="ttdeci">float d_pi_</div><div class="ttdoc">Float constant = 1.0 / (2.0 * M_PI)</div><div class="ttdef"><b>Definition:</b> fpfh.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a4817bc94da4f0b23bccbb793b6849469"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a4817bc94da4f0b23bccbb793b6849469">pcl::FPFHEstimation::computeSPFHSignatures</a></div><div class="ttdeci">void computeSPFHSignatures(std::vector&lt; int &gt; &amp;spf_hist_lookup, Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3)</div><div class="ttdoc">Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a52949a65f799b96065cc45b36924d2c4"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a52949a65f799b96065cc45b36924d2c4">pcl::FPFHEstimation::hist_f3_</a></div><div class="ttdeci">Eigen::MatrixXf hist_f3_</div><div class="ttdoc">Placeholder for the f3 histogram.</div><div class="ttdef"><b>Definition:</b> fpfh.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a6465bc7973845bbae46e1f4f7ec4ca76"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a6465bc7973845bbae46e1f4f7ec4ca76">pcl::FPFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by &lt;setInputCl...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:234</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a69a85d6a81b7cd3ff49f93578e3a23d7"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a69a85d6a81b7cd3ff49f93578e3a23d7">pcl::FPFHEstimation::hist_f2_</a></div><div class="ttdeci">Eigen::MatrixXf hist_f2_</div><div class="ttdoc">Placeholder for the f2 histogram.</div><div class="ttdef"><b>Definition:</b> fpfh.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_a97dc7164a7afc7c6861b173c71e20ece"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#a97dc7164a7afc7c6861b173c71e20ece">pcl::FPFHEstimation::hist_f1_</a></div><div class="ttdeci">Eigen::MatrixXf hist_f1_</div><div class="ttdoc">Placeholder for the f1 histogram.</div><div class="ttdef"><b>Definition:</b> fpfh.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_aad2aa2a9a8c6b3c08a1ed45a75ab23f3"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#aad2aa2a9a8c6b3c08a1ed45a75ab23f3">pcl::FPFHEstimation::fpfh_histogram_</a></div><div class="ttdeci">Eigen::VectorXf fpfh_histogram_</div><div class="ttdoc">Placeholder for a point's FPFH signature.</div><div class="ttdef"><b>Definition:</b> fpfh.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_ab9e1a82df2cfe1b5ac5bef3060f093a7"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#ab9e1a82df2cfe1b5ac5bef3060f093a7">pcl::FPFHEstimation::computePairFeatures</a></div><div class="ttdeci">bool computePairFeatures(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, int p_idx, int q_idx, float &amp;f1, float &amp;f2, float &amp;f3, float &amp;f4)</div><div class="ttdoc">Compute the 4-tuple representation containing the three angles and one distance between two points re...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_abf2447f74cdee9ae5d5c316a488c3ce9"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#abf2447f74cdee9ae5d5c316a488c3ce9">pcl::FPFHEstimation::FPFHEstimation</a></div><div class="ttdeci">FPFHEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> fpfh.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_ac1f596c9f4cfc10f4a89684ac48ba3e6"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#ac1f596c9f4cfc10f4a89684ac48ba3e6">pcl::FPFHEstimation::computePointSPFHSignature</a></div><div class="ttdeci">void computePointSPFHSignature(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, int p_idx, int row, const std::vector&lt; int &gt; &amp;indices, Eigen::MatrixXf &amp;hist_f1, Eigen::MatrixXf &amp;hist_f2, Eigen::MatrixXf &amp;hist_f3)</div><div class="ttdoc">Estimate the SPFH (Simple Point Feature Histograms) individual signatures of the three angular (f1,...</div><div class="ttdef"><b>Definition:</b> fpfh.hpp:61</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_ae19c8f4c3d2e6c384db71f40dcab0dd4"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#ae19c8f4c3d2e6c384db71f40dcab0dd4">pcl::FPFHEstimation::setNrSubdivisions</a></div><div class="ttdeci">void setNrSubdivisions(int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)</div><div class="ttdoc">Set the number of subdivisions for each angular feature interval.</div><div class="ttdef"><b>Definition:</b> fpfh.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_f_p_f_h_estimation_html_ae3086a63fe60b49fe5c819e56722ce91"><div class="ttname"><a href="classpcl_1_1_f_p_f_h_estimation.html#ae3086a63fe60b49fe5c819e56722ce91">pcl::FPFHEstimation::nr_bins_f1_</a></div><div class="ttdeci">int nr_bins_f1_</div><div class="ttdoc">The number of subdivisions for each angular feature interval.</div><div class="ttdef"><b>Definition:</b> fpfh.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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